56倍加速生成式策略：西交大提出EfficientFlow，迈向高效具身智能

Core Insights - The article discusses the development of a new generative policy learning method called EfficientFlow, which addresses two major challenges in embodied AI: reliance on large-scale demonstration data and slow inference times [2][3]. Group 1: Technical Highlights - EfficientFlow integrates equivariant modeling with efficient flow matching, significantly improving data efficiency and reducing the number of iterations required for inference, achieving state-of-the-art (SOTA) performance across multiple robotic operation benchmarks [2][19]. - The method introduces an acceleration regularization term in the loss function to encourage smoother and faster trajectory generation, inspired by physical intuition that smooth movements typically have low acceleration [6][19]. - The model employs equivariant networks that allow it to generalize learned actions across different orientations, effectively multiplying the data utility by enabling the model to learn from a single perspective and apply it to various rotations [11][19]. Group 2: Inference Efficiency - EfficientFlow demonstrates remarkable inference efficiency, achieving near-equivalent performance to existing SOTA methods with significantly fewer data and iterations. For instance, it reaches close to the performance of EquiDiff with 100 iterations in just 1 step, resulting in a 56-fold increase in single-step inference speed and nearly 20 times faster for 5-step inference [19]. - The model incorporates a time consistency strategy to ensure coherent action sequences during execution, utilizing overlapping predictions to maintain continuity in behavior [15][19]. - Periodic resets are implemented to enhance the model's ability to explore diverse behaviors while maintaining time consistency, ensuring minimal additional overhead during inference [17][19].